Accession Number:

ADA535054

Title:

Decentralized Cooperative Manipulation with a Swarm of Mobile Robots

Descriptive Note:

Journal article

Corporate Author:

NAVAL ACADEMY ANNAPOLIS MD DEPT OF WEAPONS AND SYSTEMS ENGINEERING

Personal Author(s):

Report Date:

2009-01-01

Pagination or Media Count:

7.0

Abstract:

In this paper we consider cooperative manipulation problems where a large group swarm of non-articulated mobile robots is trying to cooperatively control the velocity of some larger rigid body by exerting forces around its perimeter. We consider a second-order dynamic model for the object but use a simplified contact model. We seek solutions that require minimal information sharing among the swarm members. We present a velocity control law that is asymptotically stable. In the case of a constant desired velocity, it is shown that no coordination is required between the swarm members. For more complex trajectories we introduce a decentralized feed-forward component that uses an online consensus estimate of the swarms configuration. The results are illustrated in simulation.

Subject Categories:

  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE